Hybrid Dynamical Systems: An Introduction to Control and Verification

Hybrid dynamical systems are a class of complex systems that involve interacting discrete-event and continuous-variable dynamics. They are important in applications in embedded systems, cyber-physical systems, robotics, manufacturing systems, traffic management, bio-molecular networks, and have recently been at the center of intense research activity in the control theory, computer-aided verification, and artificial intelligence communities. This paper provides a tutorial introduction to this multidisciplinary research area. A number of fundamental topics, such as modeling, abstraction, verification, supervisory control, stability analysis, stabilization, and optimal control of hybrid systems are introduced and discussed. Additionally, more advanced topics are briefly discussed at the end of each chapter with references given for further reading.